ネームスペース mujinclient

ネームスペース
namespace	utils

構成
class	BinPickingResultResource
class	BinPickingTaskResource
class	HandEyeCalibrationTaskParameters
	holds information about the binpicking task parameters [詳細]
class	HandEyeCalibrationResultResource
class	HandEyeCalibrationTaskResource
class	MujinException
	Exception that all Mujin internal methods throw; the error codes are held in MujinErrorCode. [詳細]
struct	JobStatus
struct	Transform
	an affine transform [詳細]
struct	InstanceObjectState
struct	SceneInformation
class	ITLPlanningTaskParameters
	holds information about the itlplanning task parameters [詳細]
class	DensoWaveWincapsTaskParameters
	program is wincaps rc8 pac script [詳細]
struct	RobotPlacementOptimizationParameters
	placement optimization for a robot or another target. [詳細]
struct	PlacementsOptimizationParameters
class	RobotProgramData
	program data for an individual robot [詳細]
class	RobotControllerPrograms
	program data for all robots. [詳細]
class	ControllerClient
	Creates on MUJIN Controller instance. [詳細]
class	WebResource
class	ObjectResource
class	RobotResource
class	SceneResource
class	TaskResource
class	OptimizationResource
class	PlanningResultResource

型定義
typedef boost::shared_ptr < HandEyeCalibrationTaskResource >	HandEyeCalibrationTaskResourcePtr
typedef boost::weak_ptr < HandEyeCalibrationTaskResource >	HandEyeCalibrationTaskResourceWeakPtr
typedef boost::shared_ptr < HandEyeCalibrationResultResource >	HandEyeCalibrationResultResourcePtr
typedef boost::shared_ptr < ControllerClient >	ControllerClientPtr
typedef boost::weak_ptr < ControllerClient >	ControllerClientWeakPtr
typedef boost::shared_ptr < ObjectResource >	ObjectResourcePtr
typedef boost::weak_ptr < ObjectResource >	ObjectResourceWeakPtr
typedef boost::shared_ptr < RobotResource >	RobotResourcePtr
typedef boost::weak_ptr < RobotResource >	RobotResourceWeakPtr
typedef boost::shared_ptr < SceneResource >	SceneResourcePtr
typedef boost::weak_ptr < SceneResource >	SceneResourceWeakPtr
typedef boost::shared_ptr < TaskResource >	TaskResourcePtr
typedef boost::weak_ptr < TaskResource >	TaskResourceWeakPtr
typedef boost::shared_ptr < BinPickingTaskResource >	BinPickingTaskResourcePtr
typedef boost::weak_ptr < BinPickingTaskResource >	BinPickingTaskResourceWeakPtr
typedef boost::shared_ptr < OptimizationResource >	OptimizationResourcePtr
typedef boost::weak_ptr < OptimizationResource >	OptimizationResourceWeakPtr
typedef boost::shared_ptr < PlanningResultResource >	PlanningResultResourcePtr
typedef boost::weak_ptr < PlanningResultResource >	PlanningResultResourceWeakPtr
typedef boost::shared_ptr < BinPickingResultResource >	BinPickingResultResourcePtr
typedef boost::weak_ptr < BinPickingResultResource >	BinPickingResultResourceWeakPtr
typedef double	Real
typedef std::map< std::string, InstanceObjectState >	EnvironmentState

列挙型
enum	MujinErrorCode {   MEC_Failed = 0, MEC_InvalidArguments = 1, MEC_CommandNotSupported = 3, MEC_Assert = 4,   MEC_NotInitialized = 9, MEC_InvalidState = 10, MEC_Timeout = 11, MEC_HTTPClient = 12,   MEC_HTTPServer = 13, MEC_UserAuthentication = 14, MEC_AlreadyExists = 15, MEC_BinPickingError = 16,   MEC_HandEyeCalibrationError = 17, MEC_ZMQNoResponse = 20 }
enum	TaskResourceOptions { TRO_EnableZMQ = 1 }
enum	JobStatusCode {   JSC_Pending = 0, JSC_Active = 1, JSC_Preempted = 2, JSC_Succeeded = 3,   JSC_Aborted = 4, JSC_Rejected = 5, JSC_Preempting = 6, JSC_Recalling = 7,   JSC_Recalled = 8, JSC_Lost = 9, JSC_Unknown = 0xffffffff }
	status code for a job [詳細]

関数
const char *	GetErrorCodeString (MujinErrorCode error)
MUJINCLIENT_API ControllerClientPtr	CreateControllerClient (const std::string &usernamepassword, const std::string &url=std::string(), const std::string &proxyserverport=std::string(), const std::string &proxyuserpw=std::string(), int options=0)
	MUJINコントローラのクライアントを作成する。この関数はスレッドセーフではない。
MUJINCLIENT_API void	DestroyControllerClient ()
	called at the very end of an application to safely destroy all controller client resources
MUJINCLIENT_API void	ControllerClientDestroy () MUJINCLIENT_DEPRECATED
MUJINCLIENT_API void	ComputeMatrixFromTransform (Real matrix[12], const Transform &transform)
	Compute a 3x4 matrix from a Transform.
MUJINCLIENT_API void	ComputeZXYFromMatrix (Real ZXY[3], const Real matrix[12])
	Compute Euler angles in ZXY order (T = Z*X*Y) from a 3x4 matrix.
MUJINCLIENT_API void	ComputeZXYFromTransform (Real ZXY[3], const Transform &transform)
MUJINCLIENT_API void	SerializeEnvironmentStateToJSON (const EnvironmentState &envstate, std::ostream &os)

型定義

typedef boost::shared_ptr<BinPickingResultResource> mujinclient::BinPickingResultResourcePtr

mujincontrollerclient.h の 165 行で定義されています。

typedef boost::weak_ptr<BinPickingResultResource> mujinclient::BinPickingResultResourceWeakPtr

mujincontrollerclient.h の 166 行で定義されています。

typedef boost::shared_ptr<BinPickingTaskResource> mujinclient::BinPickingTaskResourcePtr

mujincontrollerclient.h の 159 行で定義されています。

typedef boost::weak_ptr<BinPickingTaskResource> mujinclient::BinPickingTaskResourceWeakPtr

mujincontrollerclient.h の 160 行で定義されています。

typedef boost::shared_ptr<ControllerClient> mujinclient::ControllerClientPtr

mujincontrollerclient.h の 147 行で定義されています。

typedef boost::weak_ptr<ControllerClient> mujinclient::ControllerClientWeakPtr

mujincontrollerclient.h の 150 行で定義されています。

typedef std::map<std::string, InstanceObjectState> mujinclient::EnvironmentState

mujincontrollerclient.h の 214 行で定義されています。

typedef boost::shared_ptr<HandEyeCalibrationResultResource> mujinclient::HandEyeCalibrationResultResourcePtr

handeyecalibrationtask.h の 78 行で定義されています。

typedef boost::shared_ptr<HandEyeCalibrationTaskResource> mujinclient::HandEyeCalibrationTaskResourcePtr

handeyecalibrationtask.h の 57 行で定義されています。

typedef boost::weak_ptr<HandEyeCalibrationTaskResource> mujinclient::HandEyeCalibrationTaskResourceWeakPtr

handeyecalibrationtask.h の 59 行で定義されています。

typedef boost::shared_ptr<ObjectResource> mujinclient::ObjectResourcePtr

mujincontrollerclient.h の 151 行で定義されています。

typedef boost::weak_ptr<ObjectResource> mujinclient::ObjectResourceWeakPtr

mujincontrollerclient.h の 152 行で定義されています。

typedef boost::shared_ptr<OptimizationResource> mujinclient::OptimizationResourcePtr

mujincontrollerclient.h の 161 行で定義されています。

typedef boost::weak_ptr<OptimizationResource> mujinclient::OptimizationResourceWeakPtr

mujincontrollerclient.h の 162 行で定義されています。

typedef boost::shared_ptr<PlanningResultResource> mujinclient::PlanningResultResourcePtr

mujincontrollerclient.h の 163 行で定義されています。

typedef boost::weak_ptr<PlanningResultResource> mujinclient::PlanningResultResourceWeakPtr

mujincontrollerclient.h の 164 行で定義されています。

typedef double mujinclient::Real

mujincontrollerclient.h の 167 行で定義されています。

typedef boost::shared_ptr<RobotResource> mujinclient::RobotResourcePtr

mujincontrollerclient.h の 153 行で定義されています。

typedef boost::weak_ptr<RobotResource> mujinclient::RobotResourceWeakPtr

mujincontrollerclient.h の 154 行で定義されています。

typedef boost::shared_ptr<SceneResource> mujinclient::SceneResourcePtr

mujincontrollerclient.h の 155 行で定義されています。

typedef boost::weak_ptr<SceneResource> mujinclient::SceneResourceWeakPtr

mujincontrollerclient.h の 156 行で定義されています。

typedef boost::shared_ptr<TaskResource> mujinclient::TaskResourcePtr

mujincontrollerclient.h の 157 行で定義されています。

typedef boost::weak_ptr<TaskResource> mujinclient::TaskResourceWeakPtr

mujincontrollerclient.h の 158 行で定義されています。

列挙型

enum mujinclient::JobStatusCode

status code for a job

Definitions are very similar to http://ros.org/doc/api/actionlib_msgs/html/msg/GoalStatus.html

列挙型の値:

JSC_Pending	The goal has yet to be processed.
JSC_Active	The goal is currently being processed.
JSC_Preempted	The goal received a cancel request after it started executing and has since completed its execution.
JSC_Succeeded	The goal was achieved successfully.
JSC_Aborted	The goal was aborted during execution due to some failure.
JSC_Rejected	The goal was rejected without being processed, because the goal was unattainable or invalid.
JSC_Preempting	The goal received a cancel request after it started executing and has not yet completed execution.
JSC_Recalling	The goal received a cancel request before it started executing, but the server has not yet confirmed that the goal is canceled.
JSC_Recalled	The goal received a cancel request before it started executing and was successfully cancelled.
JSC_Lost	An error happened and the job stopped being tracked.
JSC_Unknown	the job is unknown

mujincontrollerclient.h の 172 行で定義されています。

enum mujinclient::MujinErrorCode

列挙型の値:

MEC_Failed
MEC_InvalidArguments	passed in input arguments are not valid
MEC_CommandNotSupported	string command could not be parsed or is not supported
MEC_Assert
MEC_NotInitialized	when object is used without it getting fully initialized
MEC_InvalidState	the state of the object is not consistent with its parameters, or cannot be used. This is usually due to a programming error where a vector is not the correct length, etc.
MEC_Timeout	process timed out
MEC_HTTPClient	HTTP client error.
MEC_HTTPServer	HTTP server error.
MEC_UserAuthentication	authentication failed
MEC_AlreadyExists	the resource already exists and overwriting terminated
MEC_BinPickingError	BinPicking failed.
MEC_HandEyeCalibrationError	HandEye Calibration failed.
MEC_ZMQNoResponse	No response from the zmq server, using REQ-REP.

mujincontrollerclient.h の 66 行で定義されています。

enum mujinclient::TaskResourceOptions

列挙型の値:

TRO_EnableZMQ

create a task resource with zeromq client

mujincontrollerclient.h の 83 行で定義されています。

関数

MUJINCLIENT_API void mujinclient::ComputeMatrixFromTransform	(	Real	matrix[12],
		const Transform &	transform
	)

Compute a 3x4 matrix from a Transform.

MUJINCLIENT_API void mujinclient::ComputeZXYFromMatrix	(	Real	ZXY[3],
		const Real	matrix[12]
	)

Compute Euler angles in ZXY order (T = Z*X*Y) from a 3x4 matrix.

Rx = Matrix(3,3,[1,0,0,0,cos(x),-sin(x),0,sin(x),cos(x)]) Ry = Matrix(3,3,[cos(y),0,sin(y),0,1,0,-sin(y),0,cos(y)]) Rz = Matrix(3,3,[cos(z),-sin(z),0,sin(z),cos(z),0,0,0,1]) Rz*Rx*Ry

[-sin(x)*sin(y)*sin(z) + cos(y)*cos(z), -sin(z)*cos(x), sin(x)*sin(z)*cos(y) + sin(y)*cos(z)] [ sin(x)*sin(y)*cos(z) + sin(z)*cos(y), cos(x)*cos(z), -sin(x)*cos(y)*cos(z) + sin(y)*sin(z)] [ -sin(y)*cos(x), sin(x), cos(x)*cos(y)]

MUJINCLIENT_API void mujinclient::ComputeZXYFromTransform	(	Real	ZXY[3],
		const Transform &	transform
	)

MUJINCLIENT_API void mujinclient::ControllerClientDestroy

(

)

非推奨:

14/03/14

MUJINCLIENT_API ControllerClientPtr mujinclient::CreateControllerClient	(	const std::string &	usernamepassword,
		const std::string &	url = std::string(),
		const std::string &	proxyserverport = std::string(),
		const std::string &	proxyuserpw = std::string(),
		int	options = 0
	)

MUJINコントローラのクライアントを作成する。この関数はスレッドセーフではない。

この関数はスレッドセーフではないため、呼び出す時に他のスレッドが走っていないようにご注意ください。

引数

usernamepassword	ユーザ:パスワード
url	コントローラにアクセスするためのURLです。スラッシュ「/」で終わる必要があります。強制的にユーザも指定出来ます、例えばhttps://username@server/。指定されていなければデフォールトのMUJINコントローラURLが使用されます。
proxyserverport	Specify proxy server to use. To specify port number in this string, append :[port] to the end of the host name. The proxy string may be prefixed with [protocol]:// since any such prefix will be ignored. The proxy's port number may optionally be specified with the separate option. If not specified, will default to using port 1080 for proxies. Setting to empty string will disable the proxy.
proxyuserpw	If non-empty, [user name]:[password] to use for the connection to the HTTP proxy.
options	１が指定されたら、クライアントがGETのみを呼び出し出来ます。それで初期化がもっと速くなれます。

例:

mujinexecutetask.cpp, mujinexecutetask_fast.cpp, mujinexecutetask_robodia.cpp, mujinideal_densowave.cpp, mujinimportscene.cpp, mujinimportscene_robodia.cpp, mujinjog.cpp, mujinmovetool.cpp, と mujinshowresults.cpp.

MUJINCLIENT_API void mujinclient::DestroyControllerClient

(

)

called at the very end of an application to safely destroy all controller client resources

例:

mujinexecutetask.cpp, mujinexecutetask_fast.cpp, mujinexecutetask_robodia.cpp, mujinideal_densowave.cpp, mujinimportscene.cpp, mujinimportscene_robodia.cpp, と mujinshowresults.cpp.

const char* mujinclient::GetErrorCodeString ( MujinErrorCode  error )

inline

mujincontrollerclient.h の 88 行で定義されています。

MUJINCLIENT_API void mujinclient::SerializeEnvironmentStateToJSON	(	const EnvironmentState &	envstate,
		std::ostream &	os
	)